diff --git a/libero/README.md b/libero/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b5609f01fddde78f3a1b67d32340c91d1b2d83c9 --- /dev/null +++ b/libero/README.md @@ -0,0 +1,46 @@ +# LIBERO — vendored assets for library-free reproduction in RoboVerse / MetaSim + +This `libero/` subtree of [`RoboVerseOrg/roboverse_data`](https://huggingface.co/datasets/RoboVerseOrg/roboverse_data) +makes the upstream **`libero` and `robosuite` Python packages deletable**: every +one of the **130 base LIBERO tasks** (5 suites) can be loaded, evaluated and +rendered inside MetaSim's MuJoCo substrate using only these files + +`mujoco`+`numpy` (no `libero`, no `robosuite` import). + +## Layout + +``` +libero/ + manifest.json # task list + asset stats + sha + assets/robosuite/<...> # Franka / Panda gripper / arena meshes (shared) + assets/libero/<...> # chiliocosm objects, textures, meshes + tasks//.xml # portable MJCF — file="…" are asset relpaths + tasks//.goal.json # resolved BDDL goal + OSC config + body_pos/quat +``` + +- **193 unique assets / 265 MB**, deduplicated across all 130 tasks (vs ~30 GB if + each task embedded its own meshes). `robosuite/` (64 files) is shared by every + task; `libero/` (129 files) holds the per-scene objects/textures. +- Each `.xml` is the live robosuite-compiled MJCF with `file=` paths + rewritten to the two-namespace relpaths above (resolve with `assets/`). +- `.goal.json` carries the BDDL goal reduced to MuJoCo-evaluable predicates + (`in`/`on`/`on_site`/`open`/`close`/`turnon`/`turnoff`), the OSC_POSE config, and + the captured `body_pos`/`body_quat` (robosuite's runtime fixture placement, + `seed=0`) which the loader re-applies to make the model bitwise-identical. + +## How it's produced & consumed (RoboVerse) + +- Produced once by `scripts/native/migrate_libero_assets.py`. +- Consumed by `roboverse_pack/tasks/libero_native`: + `LiberoNativeTask.from_vendored(suite, task)` resolves the MJCF + every mesh via + `_locator.py` (this dataset, local clone or HF download) — never importing libero. + +## Verification (`scripts/native/verify_vendored.py`) + +All 130 tasks, vendored vs the original robosuite env: + +- **model fields exact: 130/130** (`max|Δ| = 0` after the `body_pos/quat` re-apply) +- **ported BDDL checker 1:1: 130/130** (0 mismatch vs `env._check_success` over + full demo state-replay) + +Render via MJCF recompile is ~2–5 MAE/255 vs robosuite (mesh-recompile shading +only); physics and success-checking are bitwise. diff --git a/libero/assets/libero/articulated_objects/flat_stove/metal.png b/libero/assets/libero/articulated_objects/flat_stove/metal.png new file mode 100644 index 0000000000000000000000000000000000000000..f5260ff57151e704fb133e4e0ea88af4a455ee24 --- /dev/null +++ b/libero/assets/libero/articulated_objects/flat_stove/metal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93784216a66b52be9c8ccc3732e50f511815291e32f34f97bd139ed7229061fa +size 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